The PREMOVE Dataset
A multimodal dataset recorded from a sensorized vehicle in the Teatinos University Campus and two adjacent residential neighborhoods of Málaga, Spain. The dataset was designed to capture a wide variety of traffic participants including cars, pedestrians, motorcycles, bicycles, buses, and trucks operating in real and dynamic urban environments. In particular, six data sequences were recorded under different illumination conditions—daytime, sunset, and night—covering a total distance of 21,87 km and 61 minutes of driving.
The sensing platform integrates a redundant and complementary sensor suite designed to capture multimodal data around the frontal and lateral sides of the vehicle, which includes overlapping stereo RGB (Red-Green-Blue) and thermal cameras, three IMU (Inertial Measurement Unit) sensors, a dual 3D (three-dimensional) LiDAR (Light Detection and Ranging) stacked configuration, and a dual GNSS (Global Navigation Satellite System) with RTK (Real-Time Kinematic) differential corrections.
Data is provided in human-readable format, complemented by the original rosbag. In addition, a collection of open-source Python tools is provided to ease data extraction, processing and synchronization.
The current state of the art shows that this dataset fills a gap in autonomous driving research by providing synchronized RGB–thermal–LiDAR data with overlapping frontal and lateral fields of view. Potential applications of the dataset include sensor fusion, perception, tracking, RGB-thermal domain adaptation and SLAM (Simultaneous Localization and Mapping).
This work has been performed in the frame of the project PREMOVE: Movement Prediction of Traffic Participants for the Safe Integration of Self-Driving Cars in Urban Areas" (ProyExcel_00684), funded by the Andalusian Regional Government (Junta de Andalucía) of Spain.
DATASETS
| DESCRIPTION | PATH | DATASET LINKS | VIDEO PREVIEW |
30/10/2025 10:18:50 (UTC)
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RAW+BAG: ampliacion-day-2025-10-30_files.zip Demo. Length: 40 s. Size: 3.20 GB |
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30/10/2025 10:21:26 (UTC)
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RAW+BAG: teatinos-day-2025-10-30_files.zip Demo. Length: 50 s. Size 4.97 GB |
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10/11/2025 17:01:33 (UTC)
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RAW+BAG: ampliacion-sunset-2025-11-10_files.zip Demo. Length: 40 s. Size: 2.91 GB |
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10/11/2025 17:09:13 (UTC)
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RAW+BAG: teatinos-sunset-2025-11-10_files.zip Demo. Length: 40 s. Size: 2.45 GB |
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10/11/2025 17:38:25 (UTC)
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RAW+BAG: ampliacion-night-2025-11-10_files.zip Demo. Length: 60 s. Size: 3.80 GB
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10/11/2025 17:32:38 (UTC)
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RAW+BAG: teatinos-night_2025-11-10_files.zip Demo. Length: 40 s. Size: 2.93 GB |
SUPPLEMENTARY MATERIAL
Github repository: Set of tools to facilitate data extraction, conversion, and processing from the original PREMOVE dataset recordings. Please check "README.md" file for installation instructions and usage.
